Author

Chong Zhang

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Preprint Oct 2026

Humanoid Mobility via Attention-based Contacts

This framework enables versatile humanoid mobility in challenging environments by using motion data strictly as a training prior for natural whole-body coordination while retaining the flexibility to discover environment-dependent behaviors through reinforcement learning.

Jun-Zhe He, Ke-Han Wen, Chong Zhang et al. · 0 citations

Preprint Aug 2026

Learning Agile Perceptive Traversal of Sparse 3D Structures for Humanoids

A reinforcement-learning-based perceptive control system that operates directly on observations from a head-mounted solid-state lidar, consuming the raw lidar scan through an attention-based encoder with recurrent memory to extract task-relevant geometry from the sparse returns.

Efe Ongan, Chong Zhang, Bo-Yang Sun et al. · 0 citations